Boots – shoes – and leggings
Patent
1987-08-24
1989-03-21
Smith, Jerry
Boots, shoes, and leggings
364188, 364191, 901 1, 901 3, G05B 1939, B25J 916
Patent
active
048150118
DESCRIPTION:
BRIEF SUMMARY
DESCRIPTION
1. Technical Field
The present invention relates to a robot control apparatus for controlling a robot by a program language, more particularly, to a robot control apparatus for teaching the type of motion of the robot, the speed of the motion, and positional data, etc., needed to make the robot perform a certain operation.
2. Background Art
Conventional robot control apparatuses generally teach the type of motion, the speed of motion, and positional data of robots using known GS codes.
The system of GS codes lies between a high level language and a machine language and designates the type of motion by a combination of one letter of the alphabet and numerals. Concretely, a G code expresses the type of motion. For example, G00 is the code for moving the front portion of an industrial robot in the shortest possible time without path control of the tool center point (TCP), G01 is the code for moving the TCP in a straight line, and G02 is the code for moving the TCP in an arc. Further, F indicates the speed of motion, P indicates, the positional data, and S is an auxiliary code for signal reception, etc.
Of course, the GS code includes more data than that mentioned above. The GS codes are stored in the data memory for each code through a direct input of the letter of the alphabet and numerals from a keyboard of the robot control apparatus.
Recently, use has been made of robot languages corresponding to PASCAL, FORTRAN, and other high level languages for robot control apparatuses for controlling industrial robots, etc., in order to teach the type of motion, etc.
As mentioned above, conventional robot control apparatuses use GS codes for teaching the type of motion of the robot, so users making actual use of robots must learn the GS codes. However, since GS codes are combinations of single letters of the alphabet with numerals, they are not easily learned. In particular, users with little experience often make mistakes when inputting these codes.
Further, since conventional robot control apparatuses using GS codes must store the codes individually in the data memory, time and effort are required for the preparation and editing of programs by GS codes.
Further, robot control apparatuses using robot languages for teaching the type of motion, etc., have the advantage of enabling a certain extent of understanding of the meaning of each word of the language from the word itself, but general high level languages include numerous types of instructions and are strict with regard to grammar, so the frequency of mistakes in grammar (syntax errors) is increased, requiring time for correction and thus increasing the burden on the user.
3. Disclosure of Invention
The object of the present invention, in consideration of the above-mentioned conventional robot control apparatuses, is to provide a robot control apparatus enabling users to compile a desired block simply and in a short time.
FIG. 1 is a block diagram showing the constitution of a robot control apparatus in accordance with the present invention. According to the present invention, there is provided a robot control apparatus which controls a robot by a program language and which has keys and a display displaying at least one block of data, characterized in that said robot control apparatus comprises: a means 3 for moving a cursor to a position for selection of a word to be changed among words displayed on said display; a means 4 for cyclically selecting a word which is required at said selection position by said keys; and a means 5 for storing a desired one block of data by said selected word when said data is compiled and stored in said compiled form.
The robot control apparatus of the present invention, having the above constitution, uses a program language enabling a user to understand to a certain extent of the meaning of each word of the language, instead of GS codes based on combinations of single letters of the alphabet and numerals, selects cyclically the necessary word by keys while confirming the same by a display unit of said robot control app
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patent: 4396977 (1983-08-01), Slater et al.
patent: 4451895 (1984-05-01), Sliwkowski
patent: 4479197 (1984-10-01), Haag et al.
patent: 4490781 (1984-12-01), Kishi et al.
patent: 4519026 (1985-05-01), Nozawa et al.
patent: 4663705 (1987-05-01), Kishi et al.
Ishikawa Haruyuki
Mizuno Tohru
Fanuc Ltd.
Gordon Paul
Smith Jerry
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